ES3008477T3 - Buoyancy modification module for a modular underwater vehicle - Google Patents

Abstract

The invention relates to a buoyancy modification module 10 for a modular underwater vehicle. Said module 10 has at least a first frame 20. The frame 20 is designed to connect the module 10 to another module, and has at least a first pressure hull 30. This hull 30 has at least a first flooding zone 50 and at least a first dry zone. The first dry zone is equipped with at least a first pump 40, which pumps water from the environment or a neutral buoyancy tank to the first flooding zone 50, and from the latter to the environment or a neutral buoyancy tank. (Automatic translation with Google Translate, no legal value)

Description

DESCRIPTION

Buoyancy modification module for a modular submersible vehicle

The invention relates to a buoyancy modification module for a modular submersible vehicle and to a submersible vehicle.

Aquatic vehicles are typically assembled according to the type of mission and consist of different modules that perform different functions. The different modules are connected together in a similar way to standard containers. To this end, the modules usually have standardized external dimensions and connecting elements. This allows the type and number of modules to be easily selected and joined together to form a submersible vehicle, depending on the mission.

During a mission, the mass and, therefore, the buoyancy of the modular water vehicle can change. For example, the modular water vehicle can collect objects such as rock samples, measuring devices, raw materials, waste, and much more. Alternatively or additionally, the modular water vehicle can deliver items such as measuring devices, consumables (e.g., fuel for submersible equipment), smaller autonomous submersible vehicles, and much more.

Buoyancy in the sense of the invention can be positive or negative. Negative buoyancy is also referred to as downward force.

From document DE102017200078A1 a modular watercraft is known with at least one useful element and two first bow elements.

From WO2016/026894A1 a method for controlling a buoyancy control device is known.

A buoyancy control device is known from GB2351718A.

From document EP0850830A2 a submersible with several pressure bodies is known.

A modular system for the manufacture of submersible robots is known from document US9,315,248B2.

From document DE102010047677A1 a device for pressurizing a flotation tank is known.

Document WO2009/008880A1 discloses a configurable submersible vehicle. Document JP2009096396A discloses a submersible vehicle.

Document CN107804442A discloses a high-precision modular buoyancy modification device and underwater monitoring for displacement detection.

Document CN107618643A describes an integrated device for adjusting buoyancy force and self-rescue in emergencies with a high specific capacity and an underwater machine.

An underwater device is known from document NO160190B.

By Aras M S M ET AL: "Auto Depth Control for Underwater Remotely Operated Vehicles using a Flexible Ballast Tank System", Journal of Telecommunication, Electronic and Computer Engineering, vol. 7, N° 1, June 1, 2015, (2015 06-01), XP093089908, ISSN: 2180-1843, URL https://files.core.ac.uk/pdf/1358/235652367.pdfan automatic depth control system for remotely operated submersible vehicles is known, using a flexible ballast tank system.

The objective of the invention is to create a module with which the buoyancy of a modular submersible vehicle can be modified to compensate for the collection or delivery of objects.

This object is achieved by a buoyancy modification module for a modular submersible vehicle with the features specified in claim 1 and by a modular submersible vehicle with the features specified in claim 12. Advantageous variants result from the dependent claims, the following description and the drawings.

The inventive buoyancy modification module for a modular submersible vehicle has at least a first frame, the frame being designed for connecting the buoyancy modification module to other modules. The buoyancy modification module is permeated by water. Therefore, the unused spaces of the buoyancy modification module are neutral to buoyancy. Furthermore, it is not necessary for the entire module to be designed as a pressure body, which would be problematic. Instead, a simple combination of modules, for example, a parallelepiped-shaped basic shape of the module, which is not optimal for a pressure body, is optimal. In the simplest case, the frame can actually be designed as a frame in the form of the edges of a parallelepiped. In this way, the modules can be easily connected in all three spatial directions.

The buoyancy modification module has at least a first pressure body, the first pressure body having at least a first flooding zone. At least one first pump is arranged in the buoyancy modification module, the first pump being able to convey water from the environment or a neutrally buoyant tank to the first flooding zone, and from the first flooding zone to the environment or a neutrally buoyant tank.

If the first pump pumps water from the surrounding area, the system is comparatively simple. The disadvantage, however, is that both the pump itself and the first flood zone are exposed to the effects of the surrounding water. Pollution, corrosion, and vegetation are particularly relevant.

If the first pump pumps water to and from a neutrally buoyant tank, clean water can be used. A neutrally buoyant tank can, for example, be designed in the shape of a balloon. However, this changes the volume. Furthermore, the elastic materials used for this purpose age comparatively quickly, which increases the risk of failure. Furthermore, the space requirements of the construction must be taken into account.

In another embodiment of the invention, the frame has a basic shape corresponding to a right prism with a regular quadrilateral as its base surface. For example, and in particular, the frame has a parallelepiped base shape, a parallelepiped being a right prism with a rectangle as its base surface. In this way, an optimal combination of modules is possible, both in terms of stability and space utilization.

According to the invention, the first pressure body has at least one first dry zone, at least one first pump being arranged in the first dry zone.

The arrangement of the first pump in the first dry zone within the first pressure body makes it possible to use a simpler pump that is not exposed to both ambient water and ambient pressure, as well as the resulting changing ambient conditions.

In another embodiment of the invention, the buoyancy modification module comprises at least a first gas zone, the first gas zone being connected to the first flooding zone.

In principle, it is possible for the gas present in the first flooding zone to be expelled and reintroduced from a pressure vessel during each dive. However, this is problematic for submersible vehicles that either wish to advance to great depths, for example 2,000 m, or need to perform a large number of dives or depth changes. Since standard gas cylinders operate at a pressure of 300 bar in particular, at a depth of 2,000 m, this means that for each dive, a multiple of the gas cylinder volume must be carried relative to the first flooding zone. It is therefore advantageous for the gas located in the first flooding zone to be compressed in the first gas zone during flooding. This way, the first pump has to work against the rising pressure, but there is no need to replenish the gas volume upon resurfacing.

In another embodiment of the invention, the first gas zone has a first gas pressure when the first flooding zone is completely empty. Furthermore, the first gas zone has a second gas pressure when the first flooding zone is completely flooded. The difference between the first gas pressure and the second gas pressure results from the reduction in the space available for the gas in the first gas zone.

In the simplest case, the first flood zone and the first gas zone form a common space.

For example, if the first flood zone occupies ^ of this common space and the first gas zone occupies 'A, this

common space is flooded at most. In this way, in a first approximation (ideal gas law), the gas pressure would triple between the emptied state and the flooded state. The separation between the first flooding zone and the gas zone can be achieved purely by regulation, for example by changing the pressure inside.

In another embodiment of the invention, the buoyancy modification module has at least one second gas zone, the first gas zone and the second gas zone being connected to one another in a gas-conducting manner. For example, and preferably, the first gas zone is arranged within the first pressure body, and the second gas zone is arranged outside the first pressure body. For example, and in particular, the second gas zone is arranged within a second pressure body. Particularly preferably, the second pressure body forms the second gas zone. For example, and preferably, the second pressure body is a pressurized gas cylinder. For example, and in particular, the buoyancy modification module may also have more than one second gas zone. For example, and preferably, two, three, four, six, eight, or ten commercially available pressurized gas cylinders may form second gas zones.

In another embodiment of the invention, the first gas zone and the second gas zone are connected via a first gas pump. Without a gas pump, the resulting gas pressure is the result of a reduction or increase in the available volume. A pressure differential can be generated by a gas pump. Additionally, the pressure acting against the first pump can be reduced during flooding to save power there. The disadvantage, however, is the greater complexity of the system.

In another embodiment of the invention, the first gas zone and the second gas zone are connected via a first valve, the first valve preventing the entry of liquid into the second gas zone. For example, the first valve is a non-return valve or other one-way valve.

In another embodiment of the invention, the first gas zone has a first gas pressure when the first flooding zone is completely emptied, the first gas pressure corresponding to half of the maximum immersion pressure. This pressure has proven to be optimal for maintaining the power of the first pump at the lowest possible level and thus saving energy.

In another embodiment of the invention, the first gas zone has a second gas pressure when the first flooding zone is fully flooded, the second gas pressure corresponding to 1.5 times the maximum immersion pressure. This pressure has proven optimal for keeping the power of the first pump at the lowest possible level and thus saving energy.

Particularly preferably, the first gas zone has a first gas pressure when the first flooding zone is completely emptied, the first gas pressure corresponding to half the maximum immersion pressure, and a second gas pressure when the first flooding zone is completely flooded, the second gas pressure corresponding to 1.5 times the maximum immersion pressure. This combination has proven optimal for keeping the power of the first pump as low as possible and thus saving energy.

In another embodiment of the invention, the first gas zone and the first dry zone are connected to each other in a gas-conducting manner. This allows the volume surrounding the first pump to be utilized. At the same time, the first pump remains dry. This allows for a slightly more compact design. Preferably, a valve is arranged between the first gas zone and the first dry zone to prevent water from entering the first dry zone.

In another embodiment of the invention, the first gas zone and the first flooding zone are separated from one another by a liquid-tight, movable layer. A liquid-tight, movable layer, for example a film, can prevent water from entering the first gas zone. Furthermore, this prevents gas from being released from the first gas zone into the environment via the first pump.

In another embodiment of the invention, the first pump is selected from the group consisting of a diaphragm pump, a piston pump, and a rotary vane pump. The first pump is preferably a piston pump.

In another embodiment of the invention, the buoyancy modification module has a second pump, the first pump and the second pump being connected in parallel. The first pump and the second pump preferably have a common drive. The buoyancy modification module also preferably has a third pump, the first pump, the second pump, and the third pump being connected in parallel. The first pump, the second pump, and the third pump preferably have a common drive.

In another embodiment of the invention, the buoyancy modification module has exterior dimensions of 2991 mm by 2438 mm by 2438 mm.

In another aspect, the invention relates to a modular submersible vehicle. The modular submersible vehicle is composed of at least three modules. At least one module is a first buoyancy modification module according to the invention.

In another embodiment of the invention, the modules have a base shape corresponding to a right prism with a regular quadrilateral as its base surface. For example, and in particular, the modules have a parallelepiped base shape, a parallelepiped being a right prism with a rectangle as its base surface. In this way, an optimal combination of modules is possible, both in terms of stability and space utilization. It is not necessary for all modules to have the same shape. For example, all modules have the same base surface, so that they can easily be arranged in a row, one behind the other. The length can vary between modules. Likewise, the modules can have different base surfaces, for example, and in particular, one module can have a base surface twice as large as another module, in which case, this module can be combined with two other modules arranged side by side. In particular, the front and rear modules have a clearly different shape to form the bow and stern of the submersible vehicle in an aerodynamic manner. Only compatibility with the base surface of the next adjacent module is required.

In another embodiment of the invention, the first buoyancy modification module is mechanically connected to all adjacent modules. Furthermore, the first buoyancy modification module has an electrical connection to at least one adjacent module. Preferably, the first buoyancy modification module has a data connection to at least one adjacent module.

In another embodiment of the invention, the modular submersible vehicle has at least a first payload module. Preferably, the first buoyancy modification module and the first payload module are adjacent. This is advantageous because the first payload module can cause a change in the mass of the modular submersible vehicle when a payload is deposited or retrieved. Therefore, the closer the first buoyancy modification module is to the vehicle, the smaller the change in trim of the modular submersible vehicle.

In another embodiment of the invention, the modular submersible vehicle has a second buoyancy modification module, the first buoyancy modification module being adjacent to the first payload module on the bow side, and the second buoyancy modification module being adjacent to the first payload module on the stern side. This symmetrical arrangement allows the trim to remain particularly stable.

In the following, the buoyancy modification module according to the invention is explained in more detail with the help of exemplary embodiments shown in the drawings.

Figure 1 First unflooded buoyancy modification module

Figure 2 First flooded buoyancy modification module

Figure 3 Second buoyancy modification module flooded with second gas zone

Figure 4 Third buoyancy modification module flooded with gas pump

Figure 5 Modular submersible vehicle

1 shows a first buoyancy modification module 10 in the unflooded state, and 2 shows it in the flooded state. The buoyancy modification module 10 has a frame 20 and a first pressure body 30 connected to the frame 20. The interior of the first pressure body 30 is divided into two zones. On the right is a first dry zone in which the first pump 40 is located. With the help of the first pump 40, water from the environment can be pumped into the left zone of the pressure body 30 or in the opposite direction. The left zone is divided into a first flooding zone 50, which is intended for flooding with water, and a first gas zone 60, in which a gas, in particular air or nitrogen, is located.

3 shows a second buoyancy modification module 10, which additionally has two second gas zones 70 connected to the first gas zone 60. Preferably, the second gas zones 70 are designed as commercially available pressurized gas cylinders. Advantageously, they can be arranged next to the first, typically cylindrical, pressure body 30, making use of the space in the frame 30. Furthermore, these components are commercially available and therefore comparatively inexpensive.

The third buoyancy modification module 10 shown in Figure 4 additionally has a gas pump 80, through which gas can be transported from the first gas zone 60 to the second gas zone 70 and vice versa.

Figure 5 shows an exemplary modular submersible vehicle 100. The modular submersible vehicle 100 has a first payload module 110. In order to compensate for the change in mass of the payload module 110 during the mission, a buoyancy modification module 10 is arranged in front of and behind the payload module 110. For example, the modular submersible vehicle 100 also has a bow module 120, which may, for example, have a sonar and control electronics. A power module 130 is arranged at the stern. This may have a battery, a fuel cell, and/or a diesel engine independent of the outside air. All other modules are supplied with power via the power module 130. Furthermore, the modular submersible vehicle 100 has a stern module 140, which, for example, has the drive motor and a propeller, as well as the rudders.

Reference signs

10 Buoyancy Modification Module

20 Table

30 First pressure body

40 First bomb

First flood zone

First gas zone

Second gas zone

Gas pump

Modular submersible vehicle

Payload module

Bow module

Power module

Aft module

Claims (15)

1. Buoyancy modification module (10) for a modular submersible vehicle, the buoyancy modification module (10) being traversed by water, the buoyancy modification module (10) having at least a first frame (20), the frame (20) being configured to connect the buoyancy modification module (10) to further modules, the buoyancy modification module (10) having at least a first pressure body (30), the first pressure body (30) having at least a first flooding zone (50), at least a first pump (40) being arranged in the buoyancy modification module (10), the first pump (40) being able to transport water from the environment or a neutrally buoyant tank to the first flooding zone (50) and from the first flooding zone (50) to the environment or a neutrally buoyant tank, characterized in that the first pressure body (30) has at least a first dry zone, arranged in the first dry zone the at least one first pump (40). 2. Buoyancy modification module (10) according to claim 1, characterized in that the buoyancy modification module (10) comprises at least a first gas zone (60), the first gas zone (60) being connected to the first flooding zone (50). 3. Buoyancy modification module (10) according to claim 2, characterized in that the first gas zone (60) has a first gas pressure when the first flooding zone (50) is completely emptied, and the first gas zone (60) has a second gas pressure when the first flooding zone (50) is completely flooded, and the difference between the first gas pressure and the second gas pressure results from the reduction of the space available for the gas located in the first gas zone (60). 4. Buoyancy modification module (10) according to one of claims 2 to 3, characterized in that the buoyancy modification module (10) has at least one second gas zone (70), the first gas zone (60) and the second gas zone (70) being connected to one another in a gas-conducting manner. 5. Buoyancy modification module (10) according to claim 4, characterized in that the first gas zone (60) is arranged in the first pressure body (30) and the second gas zone (70) is arranged outside the first pressure body (30). 6. Buoyancy modification module (10) according to claim 5, characterized in that the second gas zone (70) is arranged in a second pressure body. 7. Buoyancy modification module (10) according to one of claims 4 to 6, characterized in that the first gas zone (60) and the second gas zone (70) are connected via a first valve, the first valve preventing the entry of liquid into the second gas zone (70). 8. Buoyancy modification module (10) according to one of claims 2 to 7, characterized in that the first gas zone (60) has a first gas pressure when the first flooding zone (50) is completely emptied, the first gas pressure corresponding to half of the maximum immersion pressure. 9. Buoyancy modification module (10) according to one of claims 2 to 8, characterized in that the first gas zone (60) has a second gas pressure when the first flooding zone (50) is completely flooded, the second gas pressure corresponding to 1.5 times the maximum immersion pressure. 10. Buoyancy modification module (10) according to one of claims 2 to 9, characterized in that the first gas zone (60) and the first dry zone are connected to each other in a gas-conducting manner. 11. Buoyancy modification module (10) according to one of claims 2 to 10, characterized in that the first gas zone (60) and the first flooding zone (50) are separated from each other by a liquid-tight, movable layer. 12. Modular submersible vehicle (100), the modular submersible vehicle being composed of at least three modules, characterized in that at least one module is a first buoyancy modification module (10) according to one of the preceding claims. 13. Modular submersible vehicle (100) according to claim 12, characterized in that the first buoyancy modification module (10) is mechanically connected to all adjacent modules, the first buoyancy modification module (10) having an electrical connection to at least one adjacent module. 14. Modular submersible vehicle (100) according to one of claims 12 to 13, characterized in that the modular submersible vehicle (100) has at least a first payload module (110), the first buoyancy modification module (10) and the first payload module (110) being adjacent. 15. Modular submersible vehicle (100) according to claim 14, characterized in that the modular submersible vehicle (100) has a second buoyancy modification module (10), the first buoyancy modification module (10) being adjacent to the first payload module (110) on the bow side and the second buoyancy modification module (10) being adjacent to the first payload module (110) on the stern side.